Simrad PSIMH2 datagram formatSimrad PSIMH1 datagram format
Simrad PSIMH2 is a proprietary datagram format created by Kongsberg Discovery to provide the height between the headrope and the footrope (opening), and the height between the headrope and the bottom in a dual trawl system. It also provides the horizontal distance and the slant range between the vessel and the sensor, as well as the true bearing. These values are used together with the GPS position of the vessel to calculate the position of the sensor.
Format
$PSIMH2,xx,M,yy,M,z.z,T,g.g,M,i.i,M,hhmmss*hh<CR><LF>
Description
1 $PSIH2Talker identifier
2 xx,MSlant Range to sensor (metres)
3 yy,MHorizontal range to sensor (metres)
4 z.z,TTrue Bearing (metres)
5 g.g,MOpening (to footrope)  (metres)
6 i.i,MHeight (to bottom) (metres)
7 hhmmssTime of transmission
8 *hhChecksum